AEMZP0BA - EPS-AC0 - User Manual
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By increasing this parameter, the maximum steered wheel angle increases too.
The maximum angle in RTC should be regulated in feedforward way by properly
adjusting the angle settings.
Stepper Motor version with toggle switches:
This parameter regulates in coarse steps the maximum steered wheel angle in
the direction where FEEDBACK ENC is lower than 2.5 V. It limits the angle
measured with the reading WHEEL ANGLE in the following range:
-
LEVEL 0:
Angle is limited to a WHEEL ANGLE is -80 degrees.
-
LEVEL 1:
Angle is limited to a WHEEL ANGLE is -84 degrees.
-
LEVEL 9:
Angle is limited to a WHELL ANGLE is -118 degrees.
Each step has a weight of 3.8 degrees.
When 1ST ANGLE COARSE and 2ND ANGLE COARSE are both to Level 9,
the angle limitation is inhibited.
16) 2ND ANGLE FINE
(RTC version only). This parameter regulates in fine steps the maximum steered
wheel angle in the direction where FEEDBACK ENC is lower than 2.5 V. It is
used in closed loop application only (RTC) and it is a scaling factor between the
SET POINT POT reading and the FEEDBACK ENC reading.
By increasing this parameter, the maximum steered wheel angle increases too.
17) NUMBNESS
(RTC version only).
This parameter reduces the steering sensitivity close to the
straight-ahead direction.
-
LEVEL 0:
No reduction in the steer sensitivity with the steering angle.
-
LEVEL 9:
Steering 4.5 less sensitive in the straight ahead direction.
Intermediate reductions of sensitivity are applied for intermediate settings. The
steering sensitivity increases in a proportional relationship with the increased
steering wheel angle. To be more precise, by increasing the NUMBNESS
setting, no sensitivity modification is applied when the steering wheel is close to
be straight, but higher sensitivity is applied when the steering wheel is angled.
As consequence, when changing the NUMBNESS value, it is necessary to re-
adjust the maximum angle limitations with the settings 1ST ANGLE COARSE
(and FINE) and 2ND ANGLE COARSE (and FINE).
18) LAG FB REGULAT
Level 0 to 9. It is used to set the integral (lag) contribution to a PID algorithm for
RTC and AUTC functions. The integral contribution is applied to the FEEDBACK
ENC value only. It works like a low pass filter to get smooth the pursuing next to
the commanded position. The derivative (lead) contribution generates dither that
is possible to reduce by increasing this adjustment. Obviously lag and lead
regulations influence the stability of the closed loop and so different setting must
be empirically tried to avoid oscillations.
-
LEVEL 0:
lowest lag contribution (high cut off frequency low pass filter).
-
LEVEL 9:
highest lag contribution (low cut off frequency low pass filter).
19) LEAD FB REGULAT
Level 0 to 9. It is used to set the derivative (lead) contribution to a PID algorithm
for RTC and AUTC functions. The derivative contribution is applied to the
FEEDBACK ENC value only. High LEAD FB REGULAT value brakes the
steering motor in advance respect to the commanded position so avoiding the
Summary of Contents for EPS-AC0
Page 23: ...AEMZP0BA EPS AC0 User Manual Page 23 95 6 2 EPS AC0 Stepper Motor diagram Figure 6 2...
Page 24: ...Page 24 95 AEMZP0BA EPS AC0 User Manual 6 3 EPS AC0 Twin pot diagram Figure 6 3...
Page 55: ...AEMZP0BA EPS AC0 User Manual Page 55 95 12 3 2 RTC with Encoder and Feedback pot Figure 12 3...